JVL MAC050 User Manual page 217

5.6 Expansion Mod. MAC00-FC2/FC4/FC41
5.6.46 Supported objects
Most of the DSP-402 parameters start up in the module with-coded values. A few of
them are set depending on the motor type the module is attached to - either MAC50-
141 or MAC400-800. None of the parameters can be saved to flash in the module.
The following table shows the additional object dictionary defined for DSP-402 support.
The numbers in brackets, in the update/write field, bold, refer to the formula for the
factors in the section
Name
Device data
Motor_type
Motor_catalog_number
Motor_manufacturer
http_motor_catalog_address
Supported_drive_modes
Drive_catalog_number
Drive_manufacturer
http_drive_catalog_address
Digital I/O
Digital_inputs
Digital_outputs_numbers_of_entries
Digital_outputs_Physical_outputs
Digital_outputs_Bit_mask
Device control
Abort_connection_option_code
Error_code
Controlword
Statusword
Quick_stop_ortion_code
Modes_of_operation
Mode_of_operation_display
Profile Position parameters
Position_actual_value
Target_position
Software_position_limit_number_
of_entries
Software_position_limit_
Min_position_limit
Software_position_limit_
Max_position_limit
Position_window
Position_window_time
Max_motor_speed
Profile_velocity
Profile_acceleration
Quick_stop_deceleration
Motion_profile_type
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
Factors, page 216.
COB Sub-
ID in-
Desc (hex) dex
6402h 0
6403h 0
6404h 0
6405h 0
6502h 0
6503h 0
6504h 0
6505h 0
60FDh 0
60FEh 0
60FEh 1
60FEh 2
N/U 6007h 0
N/U 603Fh 0
6040h 0
6041h 0
605Ah 2
6060h 0
6061h 0
6064h 0
607Ah 0
607Dh 0
607Dh 1
607Dh 2
6067h 0
6068h 0
N/U 6080h 0
N/U 6081h 0
6083h 0
6085h 0
N/U 6086h 0
Motor Scalefactor
register InitValue to motor
10
MACxxx
JVL A/S
www.JVL.dk
45
MACxxx
JVL A/S
www.JVL.dk
Motor
status
2
HW output 0
HW output 0
1/Position_factor
P1 Position_factor
0
0
0
Z1 100 Position_factor
IN-
6 SamleFreq/1000
POSCNT
5000 or
4000
V1 100 Velocity_factor
Acceleration_
A1 15000
factor
Acceleration_
A2 50000
factor
0
Update/
write
When HW inputs or
motor status (change)
See formula in section
Factors, page 216
Imm.
Imm.
Used in state machine
BusyRead
Positionmode when bit
in Controlword is set
0
0
Imm.
Imm
Imm
Imm
Imm
213